CN204842246U - Tappet body divides into groups to mark equipment at quarter - Google Patents
Tappet body divides into groups to mark equipment at quarter Download PDFInfo
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- CN204842246U CN204842246U CN201520061292.XU CN201520061292U CN204842246U CN 204842246 U CN204842246 U CN 204842246U CN 201520061292 U CN201520061292 U CN 201520061292U CN 204842246 U CN204842246 U CN 204842246U
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- 230000007246 mechanism Effects 0.000 claims abstract description 90
- 238000001514 detection method Methods 0.000 claims abstract description 58
- 239000000463 material Substances 0.000 claims abstract description 19
- 238000010330 laser marking Methods 0.000 claims abstract description 18
- 238000005259 measurement Methods 0.000 claims description 8
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 3
- 238000005096 rolling process Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000002950 deficient Effects 0.000 description 2
- 230000000977 initiatory effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000012512 characterization method Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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Abstract
The utility model discloses a tappet body divides into groups to mark equipment at quarter, including intermittent type formula rotary disk, feed mechanism, size detection device, laser marking device, sorting mechanism and control system. The outside of intermittent type formula rotary disk is equipped with material loading station, size detection station, beats marks station, categorised station, is equipped with four tools on the intermittent type formula rotary disk. Feed mechanism is used for removing the tappet body extremely on the tool of material loading station below. The size detection device is used for the detection the size of the tappet body on the tool of size detection station below. It is right that the laser marking device is used for the tappet body on the tool of size detection station below carries out laser marking. It is right that the sorting mechanism is used for according to the size of a dimension of the tappet body the tappet body on the tool of categorised station below is classified. Control system and intermittent type formula rotary disk, feed mechanism, size detection device, laser marking device and sorting mechanism signal connection. The utility model discloses can accomplish the categorised and laser marking of size detection in step, work efficiency is high.
Description
Technical field
The utility model relates to grouping marking device, particularly relates to a kind of tappet body grouping marking device.
Background technology
Tappet body is the driven member of cam, and its function passes to push rod or valve by from the motion of cam and active force, also bears side force that cam applies simultaneously and is passed to body or cylinder head.In the production and processing technology of tappet body, need to carry out detection classification to the size of tappet body, isolate the qualified products, defective products etc. that meet dimensional standard.Also need to carry out laser marking to tappet body.But in current production and processing technology flow process, the size of tappet body is classified by manual detection, the laser marking of tappet body is also complete independently, its inefficiency, and meanwhile, manual detection classification causes classification inaccurate due to human factor.
Utility model content
The purpose of this utility model is to overcome deficiency of the prior art and provides a kind of tappet body grouping marking device, and synchronously complete size detection classification and laser marking, operating efficiency is high.
The technical scheme that the utility model solution prior art problem adopts is: a kind of tappet body grouping marking device, comprising:
Batch (-type) rotating disc, the outside of described batch (-type) rotating disc is provided with feeding station, size detection station, mark station, sortation station, and described batch (-type) rotating disc is provided with and described feeding station, size detection station, mark station, sortation station four tools that can be used for fixing tappet body one to one;
Feed mechanism, is configured in the feeding station outside described batch (-type) rotating disc, for tappet body being moved to the tool below described feeding station;
Size detecting device, is configured in the size detection station outside described batch (-type) rotating disc, for the size will detect the tappet body below described size detection station on tool;
Laser mark printing device, is configured in the mark station outside described batch (-type) rotating disc, for carrying out laser marking to the tappet body on tool below described size detection station;
Sorting mechanism, is configured in the sortation station outside described batch (-type) rotating disc, classifies to the tappet body on tool below described sortation station for the size according to tappet body;
Control system, described control system is connected with described batch (-type) rotating disc, feed mechanism, size detecting device, laser mark printing device and sorting mechanism signal, rotate for controlling described batch (-type) rotating disc, to make tool on described batch (-type) rotating disc take turns flow rotation between described feeding station, size detection station, mark station, sortation station, and control described feed mechanism, size detecting device, laser mark printing device and sorting mechanism action.
Preferably, described batch (-type) rotating disc comprises rolling disc and drives the described rotating driving device rotating selection, and described rotating driving device is connected with described control system signal.
Preferably, described feed mechanism comprises for material loading conveyer belt and feeding manipulator, and the end of described material loading conveyer belt has workpiece presetting bit, and described presetting bit is relative with the tool of described feeding station; Described feeding manipulator is configured in the side of described material loading driving-belt end, for the tappet body in described workpiece presetting bit being transferred to the tool of described feeding station.
Preferably, the end of described material loading conveyer belt is provided with width and limits mechanism, to limit the described workpiece presetting bit can holding at least one tappet body.
Preferably, described workpiece presetting bit is provided with the sensor detecting described tappet body and whether be in place, and after the described tappet body of detection is in place, described tappet body is transferred to on the tool of described feeding station by described feeding manipulator.
Preferably, described size detecting device comprises measurement datum detent mechanism, perpendicularity detent mechanism and height detection mechanism, described measurement datum detent mechanism is installed below described batch (-type) rotating disc, for by the tappet body jack-up on described size detection station to desired height position, described perpendicularity detent mechanism is configured in described tappet body both sides, for the described tappet body that is fixedly clamped to make described very column vertical; Described height detection mechanism is configured in the top of described tappet body, for rising to desired height position at described tappet body and after being gripped by perpendicularity detent mechanism, carrying out height detection to described tappet body.
Preferably, described perpendicularity detent mechanism comprises the first locating piece, the first driving mechanism, the second locating piece and the second driving mechanism, described first locating piece and the second locating piece lay respectively at the both sides of described tappet body, described first driving mechanism is for driving described first locating piece to the motion of tappet body, and described tappet body is fixedly clamped to the motion of tappet body for driving described second locating piece by described second driving mechanism.
Preferably, described height detection mechanism comprises detecting head, detecting head driving mechanism and displacement transducer, described detecting head arranges the top with described tappet body, and move downward under the driving of described detecting head driving mechanism and described tappet body upper-end contact, the distance that institute's displacement sensors moves downward for detecting described detecting head.
Preferably, described sorting mechanism comprises classification manipulator and the first blanking conveyer belt, the second blanking conveyer belt, the 3rd blanking conveyer belt and the 4th blanking conveyer belt, and the tappet body on described sortation station tool is transferred in a blanking conveyer belt in described first blanking conveyer belt, the second blanking conveyer belt, the 3rd blanking conveyer belt and the 4th blanking conveyer belt by the size of the tappet body that described classification manipulator detects according to described size detecting device.
The beneficial effects of the utility model are: the tappet body grouping marking device that the utility model provides, achieved by automatic charging, size detection, laser marking and classification four operations and synchronously complete size detection classification and laser marking work, relative to traditional generation processing mode, its operating efficiency is high, and classification accurately.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model embodiment tappet body grouping marking device;
Fig. 2 is the structural representation of size detecting device in the utility model embodiment tappet body grouping marking device;
Fig. 3 is the structural representation of perpendicularity detent mechanism in the utility model embodiment tappet body grouping marking device;
Fig. 4 is the structural representation of height detection mechanism in the utility model embodiment tappet body grouping marking device.
The realization of the utility model object, functional characteristics and advantage will in conjunction with the embodiments, are described further with reference to accompanying drawing.
Detailed description of the invention
Be described below in detail embodiment of the present utility model, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has element that is identical or similar functions from start to finish.Be exemplary below by the embodiment be described with reference to the drawings, be intended to for explaining the utility model, and can not be interpreted as restriction of the present utility model.
In description of the present utility model, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", " outward ", " clockwise ", orientation or the position relationship of the instruction such as " counterclockwise " are based on orientation shown in the drawings or position relationship, only the utility model and simplified characterization for convenience of description, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore can not be interpreted as restriction of the present utility model.
In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance or imply the quantity indicating indicated technical characteristic.Thus, be limited with " first ", the feature of " second " can express or impliedly comprise one or more these features.In description of the present utility model, the implication of " multiple " is two or more, unless otherwise expressly limited specifically.
In the utility model, unless otherwise clearly defined and limited, the term such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or connect integratedly; Can be mechanical connection, also can be electrical connection; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals.For the ordinary skill in the art, the concrete meaning of above-mentioned term in the utility model can be understood as the case may be.
Shown in Fig. 4, the utility model provides a kind of tappet body grouping marking device, for carrying out laser marking to tappet body and according to size classes.Specifically comprise batch (-type) rotating disc 10, feed mechanism 20, size detecting device 30, laser mark printing device 40, sorting mechanism 50 and control system.
The outside of batch (-type) rotating disc 10 is provided with feeding station, size detection station, mark station, sortation station, and described batch (-type) rotating disc 10 is provided with and described feeding station, size detection station, mark station, sortation station four tools 101 that can be used for fixing tappet body one to one.Feed mechanism 20 is configured in the feeding station outside described batch (-type) rotating disc 10, for tappet body being moved to the tool 101 below described feeding station.Size detecting device 30 is configured in the size detection station outside described batch (-type) rotating disc 10, for the size will detect the tappet body below described size detection station on tool 101.Laser mark printing device 40 is configured in the mark station outside described batch (-type) rotating disc 10, for carrying out laser marking to the tappet body on tool below described size detection station.The sortation station of sorting mechanism configuration 50 outside described batch (-type) rotating disc 10, classifies to the tappet body on tool 101 below described sortation station for the size according to tappet body.Control system is connected with described batch (-type) rotating disc 10, feed mechanism 20, size detecting device 30, laser mark printing device 40 and sorting mechanism 50 signal, rotate for controlling described batch (-type) rotating disc 10, to make tool 101 on described batch (-type) rotating disc 10 take turns flow rotation between described feeding station, size detection station, mark station, sortation station, and control described feed mechanism 20, size detecting device 30, laser mark printing device 40 and sorting mechanism 50 action.
In specific works process, by feed mechanism 20, tappet body is moved on feeding station relative with feeding station on batch (-type) rotating disc 10, after tappet body puts in place, batch (-type) rotating disc 10 rotates 90 °, now, the tool relative with feeding station turns to next station size detection station with batch (-type) rotating disc 10 originally, equally, originally turn to mark station with size detection station tool 101, originally turn to sortation station with the tool 101 of mark station.In this case, size detecting device 30, laser mark printing device 40, sorting mechanism 50 are other carries out size detection, laser marking to the tappet body on the tool 101 of below separately, classifies; Subsequently, batch (-type) rotating disc rotates 90 ° again, so circulates, and can realize automatic marking, classification.
In an embodiment of the present utility model, batch (-type) rotating disc 10 comprises rolling disc and drives the described rotating driving device rotating selection, and described rotating driving device is connected with described control system signal.So, by control system according to operation process sending controling instruction to rotating driving device, then drive batch (-type) rotating disc to rotate 90 ° by rotating driving device.Each rotation 90 °, size detecting device 30, laser mark printing device 40, sorting mechanism 50 carry out size detection, laser marking, classification to the tappet body on the tool 101 of respective below respectively.Be understandable that, rotating driving device can adopt stepper motor or servomotor etc.
In an embodiment of the present utility model, feed mechanism 20 comprises for material loading conveyer belt 201 and feeding manipulator 202, and the end of described material loading conveyer belt 201 has workpiece presetting bit 2011, and described presetting bit 2011 is relative with the tool 101 of described feeding station; Described feeding manipulator 202 is configured in the side of described material loading driving-belt 201 end, for the tappet body in described workpiece presetting bit 2011 being transferred to the tool 101 of described feeding station.That is, tappet body can be sent to end from the initiating terminal of material loading conveyer belt 201, and just rests in the workpiece presetting bit 2011 of end.So, as long as tappet body is thrown in by operating personnel can complete automatic charging at the initiating terminal of material loading conveyer belt 201.
In a preferred embodiment of the present utility model, the end of material loading conveyer belt 201 is provided with width and limits mechanism 203, to limit the described workpiece presetting bit 2011 can holding at least one tappet body.The piece count once captured due to feeding manipulator 202 is limited, so, in the present embodiment, the end being limited mechanism's 203 pairs of material loading conveyer belts 201 by width is limited, to limit the piece count that just can hold feeding manipulator 202 and can capture, such as two, so, be convenient to feeding manipulator 202 and capture tappet body and shift to the tool 202 of feeding station.
More favorably, workpiece presetting bit 2011 is provided with the sensor detecting described tappet body and whether be in place, and after the described tappet body of detection is in place, described tappet body is transferred to the tool 101 to described feeding station by described feeding manipulator 202.Namely, detect tappet body by sensor and whether put in place, more whether put in place using tappet body and shift the trigger condition of tappet body as feeding manipulator 202.
In an embodiment of the present utility model, size detecting device 30 comprises measurement datum detent mechanism 31, perpendicularity detent mechanism 32 and height detection mechanism 33, described measurement datum detent mechanism 31 is installed below described batch (-type) rotating disc 10, for by the tappet body jack-up on described size detection station to desired height position, described perpendicularity detent mechanism 32 is configured in described tappet body both sides, for the described tappet body that is fixedly clamped to make described very column vertical; Described height detection mechanism 33 is configured in the top of described tappet body, for rising to desired height position at described tappet body and after being gripped by perpendicularity detent mechanism 32, carrying out height detection to described tappet body.So, as long as the height that measurement datum detent mechanism ejects is certain at every turn, then each datum level measured is constant, and the result of measurement is also more accurate.
In an embodiment of the present utility model, perpendicularity detent mechanism 32 comprises the first locating piece 321, first driving mechanism 322, second locating piece 323 and the second driving mechanism 324, described first locating piece 321 and the second locating piece 323 lay respectively at the both sides of described tappet body, described first driving mechanism 322 is for driving described first locating piece 321 to the motion of tappet body, and described tappet body is fixedly clamped to the motion of tappet body for driving described second locating piece 323 by described second driving mechanism 324.So, tappet body can be gripped by the first locating piece 321 and the second locating piece 323, and make tappet body keep plumbness, so, the error of size detection can be reduced.
In an embodiment of the present utility model, height detection mechanism 33 comprises detecting head 331, detecting head driving mechanism 332 and displacement transducer 333, described detecting head 331 arranges the top with described tappet body, and move downward under the driving of described detecting head driving mechanism 332 and described tappet body upper-end contact, the distance that institute's displacement sensors 333 moves downward for detecting described detecting head 331.So, drive detecting head 331 and described tappet body upper-end contact by detecting head driving mechanism 332, the distance moved downward at the detecting head 331 detected by displacement transducer 333 and the height of datum level can obtain the height of tappet body.
In an embodiment of the present utility model, sorting mechanism 50 comprises classification manipulator 501 and the first blanking conveyer belt 502, second blanking conveyer belt 503, the 3rd blanking conveyer belt 504 and the 4th blanking conveyer belt 505, and the tappet body on described sortation station tool is transferred in a blanking conveyer belt in described first blanking conveyer belt 502, second blanking conveyer belt 503, the 3rd blanking conveyer belt 504 and the 4th blanking conveyer belt 505 by the size of the tappet body that described classification manipulator 501 detects according to described size detecting device 30.That is, the size of each tappet body detected is transferred to sorting mechanism 50 by size detecting device 30, and sorting mechanism 50 is transferred in corresponding blanking conveyer belt (the first blanking conveyer belt 502, second blanking conveyer belt 503, the 3rd blanking conveyer belt 504 and the 4th blanking conveyer belt 505) by classification manipulator 501 according to the size of each tappet body again.Such as the first blanking conveyer belt 502, second blanking conveyer belt 503, the 3rd blanking conveyer belt 504 and the 4th blanking conveyer belt 505 can corresponding packet class be meet standard-sized group, slightly larger than standard-sized upper group, be slightly less than standard-sized lower group and defective products.
In sum, the tappet body grouping marking device that the utility model provides, is achieved by automatic charging, size detection, laser marking and classification four operations and synchronously completes size detection classification and laser marking work, relative to traditional generation processing mode, its operating efficiency is high, and classification accurately.
In the description of this description, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present utility model or example.In this manual, identical embodiment or example are not necessarily referred to the schematic representation of above-mentioned term.And the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiment or example.
Although illustrate and described embodiment of the present utility model above, be understandable that, above-described embodiment is exemplary, can not be interpreted as restriction of the present utility model, those of ordinary skill in the art can change above-described embodiment when not departing from principle of the present utility model and aim, revising, replacing and modification in scope of the present utility model.
Claims (9)
1. a tappet body grouping marking device, is characterized in that, comprising:
Batch (-type) rotating disc, the outside of described batch (-type) rotating disc is provided with feeding station, size detection station, mark station, sortation station, and described batch (-type) rotating disc is provided with and described feeding station, size detection station, mark station, sortation station four tools that can be used for fixing tappet body one to one;
Feed mechanism, is configured in the feeding station outside described batch (-type) rotating disc, for tappet body being moved to the tool below described feeding station;
Size detecting device, is configured in the size detection station outside described batch (-type) rotating disc, for the size will detect the tappet body below described size detection station on tool;
Laser mark printing device, is configured in the mark station outside described batch (-type) rotating disc, for carrying out laser marking to the tappet body on tool below described size detection station;
Sorting mechanism, is configured in the sortation station outside described batch (-type) rotating disc, classifies to the tappet body on tool below described sortation station for the size according to tappet body;
Control system, described control system is connected with described batch (-type) rotating disc, feed mechanism, size detecting device, laser mark printing device and sorting mechanism signal, rotate for controlling described batch (-type) rotating disc, to make tool on described batch (-type) rotating disc take turns flow rotation between described feeding station, size detection station, mark station, sortation station, and control described feed mechanism, size detecting device, laser mark printing device and sorting mechanism action.
2. tappet body grouping marking device according to claim 1, is characterized in that, described batch (-type) rotating disc comprises rolling disc and drives the described rotating driving device rotating selection, and described rotating driving device is connected with described control system signal.
3. tappet body grouping marking device according to claim 1, it is characterized in that, described feed mechanism comprises for material loading conveyer belt and feeding manipulator, and the end of described material loading conveyer belt has workpiece presetting bit, and described presetting bit is relative with the tool of described feeding station; Described feeding manipulator is configured in the side of described material loading driving-belt end, for the tappet body in described workpiece presetting bit being transferred to the tool of described feeding station.
4. tappet body grouping marking device according to claim 3, is characterized in that, the end of described material loading conveyer belt is provided with width and limits mechanism, to limit the described workpiece presetting bit can holding at least one tappet body.
5. tappet body grouping marking device according to claim 3, it is characterized in that, described workpiece presetting bit is provided with the sensor detecting described tappet body and whether be in place, after the described tappet body of detection is in place, described tappet body is transferred to on the tool of described feeding station by described feeding manipulator.
6. tappet body grouping marking device according to claim 1, it is characterized in that, described size detecting device comprises measurement datum detent mechanism, perpendicularity detent mechanism and height detection mechanism, described measurement datum detent mechanism is installed below described batch (-type) rotating disc, for by the tappet body jack-up on described size detection station to desired height position, described perpendicularity detent mechanism is configured in described tappet body both sides, and for being fixedly clamped, described tappet body keeps vertical to make described tappet body; Described height detection mechanism is configured in the top of described tappet body, for rising to desired height position at described tappet body and after being gripped by perpendicularity detent mechanism, carrying out height detection to described tappet body.
7. tappet body grouping marking device according to claim 6, it is characterized in that, described perpendicularity detent mechanism comprises the first locating piece, the first driving mechanism, the second locating piece and the second driving mechanism, described first locating piece and the second locating piece lay respectively at the both sides of described tappet body, described first driving mechanism is for driving described first locating piece to the motion of tappet body, and described tappet body is fixedly clamped to the motion of tappet body for driving described second locating piece by described second driving mechanism.
8. tappet body grouping marking device according to claim 6, it is characterized in that, described height detection mechanism comprises detecting head, detecting head driving mechanism and displacement transducer, described detecting head arranges the top with described tappet body, and move downward under the driving of described detecting head driving mechanism and described tappet body upper-end contact, the distance that institute's displacement sensors moves downward for detecting described detecting head.
9. tappet body grouping marking device according to claim 1, it is characterized in that, described sorting mechanism comprises classification manipulator and the first blanking conveyer belt, the second blanking conveyer belt, the 3rd blanking conveyer belt and the 4th blanking conveyer belt, and the tappet body on described sortation station tool is transferred in a blanking conveyer belt in described first blanking conveyer belt, the second blanking conveyer belt, the 3rd blanking conveyer belt and the 4th blanking conveyer belt by the size of the tappet body that described classification manipulator detects according to described size detecting device.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520061292.XU CN204842246U (en) | 2015-01-29 | 2015-01-29 | Tappet body divides into groups to mark equipment at quarter |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520061292.XU CN204842246U (en) | 2015-01-29 | 2015-01-29 | Tappet body divides into groups to mark equipment at quarter |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104668201A (en) * | 2015-01-29 | 2015-06-03 | 周俊雄 | Tappet body grouping marking device |
| CN110575963A (en) * | 2019-08-30 | 2019-12-17 | 广东韵腾激光科技有限公司 | full-automatic laser sorting equipment |
| CN111256756A (en) * | 2020-01-20 | 2020-06-09 | 广东长盈精密技术有限公司 | Detection device |
-
2015
- 2015-01-29 CN CN201520061292.XU patent/CN204842246U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104668201A (en) * | 2015-01-29 | 2015-06-03 | 周俊雄 | Tappet body grouping marking device |
| CN110575963A (en) * | 2019-08-30 | 2019-12-17 | 广东韵腾激光科技有限公司 | full-automatic laser sorting equipment |
| CN110575963B (en) * | 2019-08-30 | 2024-05-07 | 广东韵腾激光科技有限公司 | Full-automatic laser sorting equipment |
| CN111256756A (en) * | 2020-01-20 | 2020-06-09 | 广东长盈精密技术有限公司 | Detection device |
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Effective date of registration: 20170306 Address after: 516255 Guangdong Province, Huicheng District Shuikou Street office, East Road, No. (plant B) Patentee after: GUANGDONG LYRIC ROBOT INTELLIGENT AUTOMATION Co.,Ltd. Address before: 516057 Guangdong Province, Huizhou city Huicheng District Ma new group Industrial Park (east school nearby) Patentee before: Zhou Junxiong |
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| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 516255 No. 5 Tung Sheng Road, Shuikou Subdistrict Office, Huicheng District, Huizhou, Guangdong (factory B) Patentee after: GUANGDONG LYRIC ROBOT AUTOMATION Co.,Ltd. Address before: 516255 No. 5 Tung Sheng Road, Shuikou Subdistrict Office, Huicheng District, Huizhou, Guangdong (factory B) Patentee before: GUANGDONG LYRIC ROBOT INTELLIGENT AUTOMATION Co.,Ltd. |